Each brush/pencil/erase stroke creates an undesired keyframe

Every time I use the pencil, brush, or erase tool a new keyframe is inserted. The only way to make it not do this is to have the first keyframe selected which is very tedious and annoying to have to do every time I want to animate. Is there a way to turn this off? I feel like it wasn't a feature in earlier versions of animate and it's very unwanted. I've looked everywhere but can't find an option or solution.